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93 lines
3.1 KiB
C++
93 lines
3.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file crsf_telemetry.h
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*
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* @author Beat Küng <beat-kueng@gmx.net>
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*/
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#pragma once
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/battery_status.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_gps_position.h>
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#include <uORB/topics/vehicle_status.h>
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#include <drivers/drv_hrt.h>
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#include <matrix/math.hpp>
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#include <mathlib/mathlib.h>
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using namespace time_literals;
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/**
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* High-level class that handles sending of CRSF telemetry data
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*/
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class CRSFTelemetry
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{
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public:
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/**
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* @param uart_fd file descriptor for the UART to use. It is expected to be configured
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* already.
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*/
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CRSFTelemetry(int uart_fd);
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~CRSFTelemetry() = default;
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/**
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* Send telemetry data. Call this regularly (i.e. at 100Hz), it will automatically
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* limit the sending rate.
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* @return true if new data sent
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*/
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bool update(const hrt_abstime &now);
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private:
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bool send_battery();
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bool send_gps();
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bool send_attitude();
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bool send_flight_mode();
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uORB::Subscription _vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)};
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uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};
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uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
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uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
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hrt_abstime _last_update{0};
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static constexpr int num_data_types{4}; ///< number of different telemetry data types
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int _next_type{0};
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int _uart_fd;
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};
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